Standard firmware and software did not allow developers to modify AWS DeepRacer devices to use the latest operating systems. Developers can now use newly released bootloaders to upgrade or install custom operating systems (OSs), extending the lifespan of these hardware devices.
AWS DeepRacer devices are fully autonomous 1/18 scale race cars powered by models trained through reinforcement learning. These hardware devices, when combined with a cloud environment for training and evaluating neural network models, provide an education and development environment aimed at getting developers started with machine learning. When shipped, the secure firmware on AWS DeepRacer devices boots an AWS signed operating system, including versions of Ubuntu 16.04 and 20.04. These versions of Ubuntu are no longer supported, making continued experimentation and research difficult. To continue using these devices for as long as possible, you need a way to authenticate the execution of custom or modified software.
Developer bootloaders allow you to install a custom operating system other than the one originally provided. You can also install the latest Linux distributions, add custom hardware drivers, run custom and more modern software stacks, build new educational projects, and develop prototypes for new vehicle algorithms. This post introduces bootloaders, explains how to use them, and shares links to community distributions that use bootloaders.
our solution
Our team has developed a bootloader that provides self-service developer access. The bootloader is based on the open source shim project. This developer shim allows you to install custom or third-party distributions on your AWS DeepRacer device.
Developer shims are intended for developers who are familiar with the Linux boot process and certificate management. This is especially valuable for community members who want to create and distribute custom AWS DeepRacer installation distributions and media.
Upon startup, the developer sim flashes “DEVELOPER MODE” in Morse code on the AWS DeepRacer device’s built-in light. Once this indicator completes, the sim transfers control to the installed OS. Its purpose is to ensure transparency with clear visual indicators whenever developer mode is active. These indicators help you understand your device’s security posture.
The process is completely reversible if you need to revert to the original configuration. You can return your device to standard settings by following the instructions in “Update your vehicle”.
Developer sims work through three main elements:
1. Self-service certificate management
If the built-in signature verification fails, the developer shim checks the developer certificate. /EFI/DEVELOPER/certs/ On the device’s boot partition. You can manage your own certificates using standard tools (OpenSSL, sbsign) while maintaining proper cryptographic validation.
2. Clear visual warning
The system provides a clear notification if a developer certificate is used.
- On-screen warning (via HDMI) – We would like to inform you about developer mode.
- hardware display – The device light will flash “DEVELOPER MODE” in Morse code.
- startup delay – Give time to observe developer mode activation.
3. Standard validation workflow
This solution uses standard certificate-based signing tools, making it accessible to developers who already use secure boot processes. This method allows you to provide your own certificate while maintaining the cryptographic integrity of the boot chain and operating system.
The open source AWS DeepRacer community at deepracing.io used this developer shim to create a new custom distribution for AWS DeepRacer devices built on the Ubuntu 24.04 / ROS2 Jazzy software stack and with a Cloudscape-based user interface. As a practical demonstration of the self-service bootloader approach, we provide an out-of-the-box solution for developers who want to get started quickly.
It’s prepackaged and uses an installation process very similar to the original AWS distribution, so you can deploy it right away. The community prioritized racing performance and removed unnecessary packages such as the X Window System graphical interface. You can add desktop experiences to yourself if you want. See the README for installation instructions.
Developer shims allow the DeepRacing community to maintain and distribute updated software for AWS DeepRacer devices, significantly extending their useful life over the original distribution. The distribution can be found at https://github.com/aws-deepracer-community/deepracer-custom-car.
How to use
Bootloaders can be used with AWS DeepRacer devices across multiple usage patterns. You can upgrade using community distributions, use standard third-party OSes, or even create your own custom OS. The exact steps will vary depending on your selection.
You can start by installing a community distribution such as the Ubuntu 24.04 Community Distribution. This option provides an installation method that does not require developers to custom install Linux and reconfigure the boot process.
Option B: Third-party distribution
You can use developer shims when installing third-party distributions such as Ubuntu. Select this option if you want to control the installation process. Replace it after installing the OS. BOOTX64.EFI Edit the file with your developer shim and add the appropriate certificate. You may need to do this twice, once for the installation media and twice after installation. Please consult. USAGE.md See the files in the developer shim package.
Option C: Custom OS
If you’re building a custom OS for your AWS DeepRacer device, create a boot volume on the device. Put down the developer shim EFI/BOOT/BOOTX64.EFI As an OS kernel or bootloader EFI/BOOT/GRUBX64.EFI. Then install the public certificate below. DEVELOPER/certs path. Please consult. USAGE.md See the files in the developer shim package.
What to expect early in the boot sequence
The device goes through several stages during startup. When powered on, the device’s firmware is installed in the developer shim (BOOTX64.EFI). The sim will then display a warning on the screen (if an HDMI monitor is connected) and the device’s light will flash “DEVELOPER MODE” in Morse code. This stage takes approximately 21 seconds. Similar to the original firmware bootloader or the shim bootloader in a standard PC installation, the developer bootloader loads the operating system kernel. However, unlike firmware, the developer’s bootloader checks this kernel signature against a local customizable certificate store stored at: /EFI/DEVELOPER/certs. If the signatures match, the developer shim transfers execution to this operating system kernel and booting continues normally.
Pairing with self-managed AWS DeepRacer
Bootloader shims and self-management solutions released on January 26, 2026 give you complete control over both cloud-based training environments and physical devices. Developers can customize the on-device software stack, experiment with new ROS2 packages, and iterate on racing models with complete end-to-end flexibility. Visit DeepRacer on AWS to learn more about self-managed solutions.
Start
To get started, first explore the DeepRacer on AWS solution, then download the developer shim at deepracer-developer-shim.zip. To create or modify new custom operating system boot media, BOOTX64.EFI shim file EFI/BOOT directory. Save the selected operating system kernel as follows: GRUBX64.EFIsave the kernel’s public certificate to: EFI/DEVELOPER/CERTS In x509 DER format. This may need to be done both for the operating system installation media, and again for the device itself after installing from the media. For more detailed technical documentation, troubleshooting, and advanced usage, see Bootloader USAGE.md Files contained within the zip file.
Alternatively, download the community distribution linked above. How to use section and follow the instructions for a new installation with the developer bootloader already included.
conclusion
The bootloader allows you to unlock your AWS DeepRacer device and continue using it as an educational and development environment with the latest operating system, tools, and software stack. You can also customize your own operating system installation or use a community distribution.
To get started, download the developer bootloader at deepracer-developer-shim.zip and follow these steps: USAGE.md file. Then check out our community distribution and continue your machine learning (ML) journey with DeepRacer on AWS solutions.
With the flexibility introduced by the new bootloader, your imagination is the only limit to what you can implement on your device. What would you like to build? Feel free to share it at https://builder.aws.com/.
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